From cae33ce09c2d2f9b0fe78bbad7194bed03fb59fe Mon Sep 17 00:00:00 2001
From: grpetry <gabriel.petry26@gmail.com>
Date: Thu, 7 Nov 2019 16:14:46 -0300
Subject: [PATCH] Changed launchfile to add rviz integration

---
 twil_bringup/launch/gazebo_rviz.launch |  35 ++++
 twil_bringup/rviz/gazebo_rviz.rviz     | 361 +++++++++++++++++++++++++++++++++
 twil_description/xacro/twil.urdf.xacro |  26 +--
 3 files changed, 409 insertions(+), 13 deletions(-)
 create mode 100644 twil_bringup/launch/gazebo_rviz.launch
 create mode 100644 twil_bringup/rviz/gazebo_rviz.rviz

diff --git a/twil_bringup/launch/gazebo_rviz.launch b/twil_bringup/launch/gazebo_rviz.launch
new file mode 100644
index 0000000..c254b5e
--- /dev/null
+++ b/twil_bringup/launch/gazebo_rviz.launch
@@ -0,0 +1,35 @@
+<launch>
+	<arg name="paused" default="true"/>
+	<arg name="headless" default="false"/>
+	<arg name="use_sim_time" default="true"/>
+	<arg name="wam" default="false"/>
+	
+	<arg name="controller" default="joint_effort_controller"/>
+        <arg name="config" default="$(find twil_bringup)/config/$(arg controller).yaml"/>
+
+	<include file="$(find twil_description)/launch/gazebo.launch" >
+		<arg name="paused" value="$(arg paused)"/>
+		<arg name="headless" value="$(arg headless)"/>
+		<arg name="use_sim_time" value="$(arg use_sim_time)"/>
+		<arg name="wam" value="$(arg wam)"/>
+	</include>
+
+	<include file="$(find twil_bringup)/launch/$(arg controller).launch" />
+
+ 	<!--node name="pose2d_stamp" pkg="pose2d_trajectories" type="pose2d_stamp" respawn="false" output="screen" args="_frame_id:=map" /-->
+
+  	<node pkg="tf2_ros" type="static_transform_publisher" name="odom_frame_publisher" args="0 0 0 0 0 0 1 map odom" />
+
+	<!--node pkg="tf2_ros" type="static_transform_publisher" name="twil_origin_publisher" args="0 0 0 0 0 0 1 map twil_origin" /-->
+
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find twil_bringup)/rviz/gazebo_rviz.rviz" required="true"/>
+
+	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+
+ 	 <!--rosparam file="$(find twil_bringup)/config/odometry_publisher.yaml" command="load"/-->
+
+ 	 <!--node pkg="arc_odometry" type="odometry_publisher" name="odom_publisher" /-->
+
+</launch>
diff --git a/twil_bringup/rviz/gazebo_rviz.rviz b/twil_bringup/rviz/gazebo_rviz.rviz
new file mode 100644
index 0000000..3c490e1
--- /dev/null
+++ b/twil_bringup/rviz/gazebo_rviz.rviz
@@ -0,0 +1,361 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Odometry1
+        - /Pose1
+      Splitter Ratio: 0.5
+    Tree Height: 549
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: true
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        battery:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bottom_sonar_box:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bottom_sonar_cover:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bottom_sonar_sensor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_bottom_screw_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_color_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_color_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_depth_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_depth_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_left_ir_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_left_ir_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_right_ir_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_right_ir_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        caster_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        caster_support:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        caster_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        chassis:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        chassis_top:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        cpu:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        fan:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_caster_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_caster_support:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_caster_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_wheel_support:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        motor_driver:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        power_supply:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_wheel_support:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        stepper_driver:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        top_sonar_box:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        top_sonar_cover:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        top_sonar_sensor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        tower:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        tower_motor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        twil_origin:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: true
+      Enabled: true
+      Keep: 42
+      Name: Odometry
+      Position Tolerance: 0.30000001192092896
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 255; 25; 0
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic: /twist_mrac_linearizing_controller/odom
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Axes Length: 1
+      Axes Radius: 0.10000000149011612
+      Class: rviz/Pose
+      Color: 85; 0; 255
+      Enabled: true
+      Head Length: 0.30000001192092896
+      Head Radius: 0.10000000149011612
+      Name: Pose
+      Shaft Length: 1
+      Shaft Radius: 0.05000000074505806
+      Shape: Arrow
+      Topic: /command_stamped
+      Unreliable: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 4.673752784729004
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.26802945137023926
+        Y: -0.270676851272583
+        Z: 0.5226089954376221
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.5353978276252747
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.540398120880127
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000031b00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 171
+  Y: 127
diff --git a/twil_description/xacro/twil.urdf.xacro b/twil_description/xacro/twil.urdf.xacro
index 02a90bf..cfbdf47 100644
--- a/twil_description/xacro/twil.urdf.xacro
+++ b/twil_description/xacro/twil.urdf.xacro
@@ -133,29 +133,28 @@
   </gazebo>
 
   <gazebo reference="camera_link">
-    <sensor type="depth" name="camera">
-      <update_rate>30.0</update_rate>
-      <!-- math.atan(320 / 687.8065795898438) * 2 -->
-      <camera name="camera">
-        <horizontal_fov>0.8709216071359963</horizontal_fov>
+    <sensor name="camera" type="depth">
+      <update_rate>15</update_rate> <!--or 6 or 30 -->
+      <camera>
+        <horizontal_fov>1.309</horizontal_fov> <!--75 deg at 480p  or 87 deg at 720p-->
         <image>
-          <width>1280</width>
-          <height>720</height>
-          <format>B8G8R8</format>
+          <width>640</width> <!--or 1280 -->
+          <height>480</height> <!--or 720 -->
+          <format>R8G8B8</format>
         </image>
         <clip>
-          <near>1</near>
-          <far>20</far>
+          <near>0.05</near>
+          <far>10</far>
         </clip>
         <noise>
           <type>gaussian</type>
           <mean>0.0</mean>
-          <stddev>0.007</stddev>
+          <stddev>0.02</stddev>
         </noise>
       </camera>
 
       <plugin name="camera_plugin" filename="libgazebo_ros_openni_kinect.so">
-        <baseline>0.2</baseline>
+        <baseline>0.05</baseline>  <!-- dist between sensors -->
         <alwaysOn>true</alwaysOn>
         <!-- Keep this zero, update_rate in the parent <sensor> tag
           will control the frame rate. -->
@@ -167,7 +166,8 @@
         <depthImageInfoTopicName>/camera/depth/camera_info</depthImageInfoTopicName>
         <pointCloudTopicName>/camera/depth/points</pointCloudTopicName>
         <frameName>camera_link</frameName>
-        <pointCloudCutoff>0.05</pointCloudCutoff>
+        <pointCloudCutoff>0.175</pointCloudCutoff> <!-- or 0.28 at 720p -->
+	<pointCloudCutoffMax>10.0</pointCloudCutoffMax>
         <distortionK1>0</distortionK1>
         <distortionK2>0</distortionK2>
         <distortionK3>0</distortionK3>
-- 
2.12.0